相关论文: Dynamics of mechanical systems with multiple slidi…
The 120-year old so-called Painleve paradox involves the loss of determinism in models of planar rigid bodies in point contact with a rigid surface, subject to Coulomb-like dry friction. The phenomenon occurs due to coupling between normal…
The Painlev\'e paradox is a phenomenon that causes instability in mechanical systems subjects to unilateral constraints. While earlier studies were mostly focused on abstract theoretical settings, recent work confirmed the occurrence of the…
The dynamics of moving solids with unilateral contacts are often modeled by assuming rigidity, point contacts, and Coulomb friction due to the simplicity of these models. The canonical example of a rigid rod with one endpoint slipping in…
Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability…
Amontons' law postulates a monotonic relationship between frictional force and the normal load applied to a sliding contact. This empirical rule, however, fails in systems where internal degrees of freedom - such as structural or electronic…
This paper analyses in detail the dynamics in a neighbourhood of a G\'enot-Brogliato point, colloquially termed the G-spot, which physically represents so-called dynamic jam in rigid body mechanics with unilateral contact and Coulomb…
We explore the mechanics of a terminally loaded buckled elastica under frictionless self-contact. With the aid of two integrals associated with the elastica, we propose a scale-invariant condition necessary for the onset of contact. The…
Paradoxes in the impact dynamics of rigid bodies are known to arise in the presence of friction. We show here that, on specificc occasions, in the absence of friction, the conservation laws of classical mechanics are also incompatible with…
This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
We consider the problem of a rigid body, subject to a unilateral constraint, in the presence of Coulomb friction. We regularize the problem by assuming compliance (with both stiffness and damping) at the point of contact, for a general…
We consider a mathematical model which describes the quasistatic frictionless contact of a viscoelastic body with a rigid-plastic foundation. We describe the mechanical assumptions, list the hypotheses on the data and provide three…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
We frame the Painlev\`e mechanical system, which has been extensively studied because of the paradox it generates, within the class of Regular Geometric Impulsive Mechanical Systems (RGIMS), by modeling it as a mechanical system subject to…
Logical and information aspects of friction and wetting (including the adhesion, capillarity, and superhydrophobicity) are discussed. Friction involves paradoxes, such as the Painlev\'e paradoxes of non-existence or non-uniqueness of…
We consider two linearly coupled masses, where one mass can have inelastic impacts with a fixed, rigid stop. This leads to the study of a two degree of freedom, piecewise linear, frictionless, unforced, constrained mechanical system. The…
Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…
A mechanical system consisting of an elastic beam under harmonic excitation and an attached sliding body is investigated. Recent experimental observations suggest that the system passively (self-)adapts the axial location of the slider to…
One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…